Based on the human arm，the small fiveaxis manipulator was designed. The three dimensional digital design of manipulator was completed by SolidWorks software. According to the D-H method, the attitude motion equation of the manipulator was established,thus the mathematical model was established. The posture of the mechanical arm was obtained by inverse kinematics. The parts of the manipulator were manufactured and assembled,which provides the ideal experimental object for the humanmachine interactive control system, tracking the movements of the human arm and realizing remote medical service serving.